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    <title>ccontrg</title>
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    <center>Scilab Function</center>
    <div align="right">Last update : April 1993</div>
    <p>
      <b>ccontrg</b> -  central H-infinity controller</p>
    <h3>
      <font color="blue">Calling Sequence</font>
    </h3>
    <dl>
      <dd>
        <tt>[K]=ccontrg(P,r,gamma);  </tt>
      </dd>
    </dl>
    <h3>
      <font color="blue">Parameters</font>
    </h3>
    <ul>
      <li>
        <tt>
          <b>P</b>
        </tt>: <tt>
          <b>syslin</b>
        </tt> list (linear system in state-space representation)</li>
      <li>
        <tt>
          <b>r</b>
        </tt>: 1x2 row vector, dimension of the 2,2 part of <tt>
          <b>P</b>
        </tt>
      </li>
      <li>
        <tt>
          <b>gamma</b>
        </tt>: real number</li>
    </ul>
    <h3>
      <font color="blue">Description</font>
    </h3>
    <p>
    returns a realization <tt>
        <b>K</b>
      </tt> of the central controller for the
    general standard problem in state-space form.</p>
    <p>
    Note that gamma must be &gt; gopt (ouput of <tt>
        <b>gamitg</b>
      </tt>)</p>
    <p>
    P contains the parameters of plant realization <tt>
        <b>(A,B,C,D)</b>
      </tt>
    (<tt>
        <b>syslin</b>
      </tt> list) with</p>
    <pre>

B = ( B1 , B2 ) ,        C= ( C1 ) ,    D = ( D11  D12)
                            ( C2 )          ( D21  D22)
   
    </pre>
    <p>
      <tt>
        <b>r(1)</b>
      </tt> and <tt>
        <b>r(2)</b>
      </tt> are the dimensions of <tt>
        <b>D22</b>
      </tt> (rows x columns)</p>
    <h3>
      <font color="blue">See Also</font>
    </h3>
    <p>
      <a href="gamitg.htm">
        <tt>
          <b>gamitg</b>
        </tt>
      </a>,&nbsp;&nbsp;<a href="h_inf.htm">
        <tt>
          <b>h_inf</b>
        </tt>
      </a>,&nbsp;&nbsp;</p>
    <h3>
      <font color="blue">Author</font>
    </h3>
    <p>P. Gahinet (INRIA);   </p>
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